java/Robotaxi.git

			@@ -7,13 +7,11 @@
			import com.xiaopeng.api.dto.operation.LonLatDto;
			import com.xiaopeng.api.dto.operation.VehiclePositionByVinDto;
			import com.xiaopeng.api.dto.pushMessage.SendMessageDTO;
			import com.xiaopeng.api.dto.vehicleConvoy.BaseVehicleUserDto;
			import com.xiaopeng.api.feignClient.automaticPilot.OrderMissionClient;
			import com.xiaopeng.api.feignClient.map.XpMapClient;
			import com.xiaopeng.api.feignClient.order.XpCruiseOrderClient;
			import com.xiaopeng.api.feignClient.order.XpOrderClient;
			import com.xiaopeng.api.feignClient.pushMessage.XpPushMessageClient;
			import com.xiaopeng.api.feignClient.vehicleConvoy.UserVehicleClient;
			import com.xiaopeng.api.feignClient.vehicleConvoy.XpVehicleClient;
			import com.xiaopeng.api.model.operation.XpElectronicFence;
			import com.xiaopeng.api.model.operation.XpTradingStrategy;
			@@ -23,7 +21,6 @@
			import com.xiaopeng.api.vo.automaticPilot.VehiclePosition;
			import com.xiaopeng.api.vo.operation.RouteVo;
			import com.xiaopeng.api.vo.operation.VehiclePositionVo;
			import com.xiaopeng.api.vo.vehicleConvoy.AddTaxiPassengerVo;
			import com.xiaopeng.common.core.constant.CacheConstants;
			import com.xiaopeng.common.core.constant.Constants;
			import com.xiaopeng.common.core.domain.R;
			@@ -32,12 +29,14 @@
			import com.xiaopeng.operation.service.IXpElectronicFenceAreaService;
			import com.xiaopeng.operation.service.IXpTradingStrategyService;
			import com.xiaopeng.operation.service.XpPointService;
			import com.xiaopeng.operation.config.UidVinBindingConfig;
			import com.xiaopeng.operation.dto.PriorityMatchResult;
			import com.xiaopeng.operation.service.UidVinPriorityMatcher;
			import com.xiaopeng.operation.utils.mango.VehiclePositionService;
			import lombok.SneakyThrows;
			import lombok.extern.slf4j.Slf4j;
			import org.redisson.api.RLock;
			import org.redisson.api.RedissonClient;
			import org.springframework.beans.factory.annotation.Autowired;
			import org.springframework.scheduling.annotation.Scheduled;
			import org.springframework.scheduling.concurrent.ThreadPoolTaskExecutor;
			import org.springframework.stereotype.Component;
			@@ -92,6 +91,12 @@

			@Resource
			private XpElectronicFenceMapper xpElectronicFenceMapper;

			@Resource
			private UidVinBindingConfig uidVinBindingConfig;

			@Resource
			private UidVinPriorityMatcher uidVinPriorityMatcher;


			// 自定义线程池
			@@ -214,7 +219,7 @@
			if (xpOrderR.getCode() == 200) {
			XpOrder xpOrder = xpOrderR.getData();
			if (xpOrder.getStatus() == 1) {
			log.error("五轮推单结束，无车辆接单，执行取消订单 {}", orderNo);
			log.info("五轮推单结束，无车辆接单，执行取消订单 {}", orderNo);
			xpOrderClient.cancelOrder(orderId);
			//推送订单状态给乘客
			SendMessageDTO dto = new SendMessageDTO();
			@@ -280,6 +285,101 @@
			Long xpElectronicFenceAreaId = xpOrder.getXpElectronicFenceAreaId();
			Long electronicId = xpElectronicFenceAreaService.getById(xpElectronicFenceAreaId).getElectronicId();
			XpElectronicFence xpElectronicFence = xpElectronicFenceMapper.selectById(electronicId);

			// ===== 新增：UID-VIN 优先匹配（仅 enabled=true 时生效）=====
			log.info("[人车订单绑定测试] >>>>>> 进入优先匹配判断, uid={}, orderNo={}, 围栏区域ID={}", uid, orderNo, xpElectronicFenceAreaId);
			if (uidVinBindingConfig.isEnabled()) {
			log.info("[人车订单绑定测试] 总开关已开启, 开始执行优先匹配逻辑, uid={}, orderNo={}", uid, orderNo);
			try {
			PriorityMatchResult priorityResult = uidVinPriorityMatcher.tryPriorityMatch(uid, orderNo, String.valueOf(xpElectronicFenceAreaId));
			log.info("[人车订单绑定测试] 优先匹配结果: matched={}, vin={}, failReason={}, uid={}, orderNo={}",
			priorityResult != null ? priorityResult.isMatched() : "null",
			priorityResult != null ? priorityResult.getVin() : "null",
			priorityResult != null ? priorityResult.getFailReason() : "null",
			uid, orderNo);
			if (priorityResult != null && priorityResult.isMatched()) {
			String priorityVin = priorityResult.getVin();
			log.info("[人车订单绑定测试] 匹配成功, 准备获取分布式锁, lockKey=FIND_CAR_{}, orderNo={}", priorityVin, orderNo);
			RLock priorityLock = redissonClient.getLock("FIND_CAR_" + priorityVin);
			priorityLock.lock(10, TimeUnit.SECONDS);
			log.info("[人车订单绑定测试] 分布式锁获取成功, vin={}, orderNo={}", priorityVin, orderNo);
			try {
			// 二次校验车辆状态
			log.info("[人车订单绑定测试] 开始二次校验车辆状态, vin={}, orderNo={}", priorityVin, orderNo);
			R<XpVehicle> vehicleR = xpVehicleClient.findByVehicleVin(priorityVin);
			log.info("[人车订单绑定测试] 二次校验-车辆查询结果: code={}, hasData={}, vin={}", vehicleR.getCode(), vehicleR.getData() != null, priorityVin);
			if (vehicleR.getCode() == 200 && vehicleR.getData() != null) {
			XpVehicle vehicle = vehicleR.getData();
			log.info("[人车订单绑定测试] 二次校验-车辆状态: operatingStatus={}, state={}, vehicleType={}, vin={}",
			vehicle.getOperatingStatus(), vehicle.getState(), vehicle.getVehicleType(), priorityVin);
			if (vehicle.getOperatingStatus() == 1 && vehicle.getState() == 0 && vehicle.getVehicleType() != 1) {
			log.info("[人车订单绑定测试] 二次校验-车辆状态通过(空闲), 开始校验订单状态, orderNo={}", orderNo);
			// 二次校验订单状态
			R<XpOrder> orderCheck = xpOrderClient.queryOrderByOrderNo(orderNo);
			log.info("[人车订单绑定测试] 二次校验-订单查询结果: code={}, status={}, orderNo={}",
			orderCheck.getCode(),
			orderCheck.getData() != null ? orderCheck.getData().getStatus() : "null",
			orderNo);
			if (orderCheck.getCode() == 200 && orderCheck.getData() != null && orderCheck.getData().getStatus() == 1) {
			log.info("[人车订单绑定测试] 二次校验全部通过, 开始关闭巡游单, vin={}, orderNo={}", priorityVin, orderNo);
			// 关闭巡游单
			R stringR = xpCruiseOrderClient.cancelCruiseOrderByVin(priorityVin);
			log.info("[人车订单绑定测试] 关闭巡游单结果: code={}, vin={}, orderNo={}",
			stringR != null ? stringR.getCode() : "null", priorityVin, orderNo);
			if (stringR != null && stringR.getCode() == 200) {
			log.info("[人车订单绑定测试] 关闭巡游单成功, 开始下发XPU命令, vin={}, orderNo={}", priorityVin, orderNo);
			// 下发XPU命令
			PushOrderDto pushOrderDto = new PushOrderDto();
			pushOrderDto.setVin(priorityVin);
			pushOrderDto.setOrderId(orderCheck.getData().getId().toString());
			pushOrderDto.setStartLatitude(orderCheck.getData().getStartLat());
			pushOrderDto.setStartLongitude(orderCheck.getData().getStartLon());
			pushOrderDto.setEndLatitude(orderCheck.getData().getEndLat());
			pushOrderDto.setEndLongitude(orderCheck.getData().getEndLon());
			pushOrderDto.setEndPoiName(orderCheck.getData().getEndPointName());
			pushOrderDto.setOrderType(OrderType.USER_ORDER);
			pushOrderDto.setStage(1);
			log.info("[人车订单绑定测试] XPU推单参数: vin={}, orderId={}, startLat={}, startLon={}, endLat={}, endLon={}, orderNo={}",
			priorityVin, orderCheck.getData().getId(), orderCheck.getData().getStartLat(), orderCheck.getData().getStartLon(),
			orderCheck.getData().getEndLat(), orderCheck.getData().getEndLon(), orderNo);
			orderMissionClient.pushOrder(pushOrderDto);
			log.info("[人车订单绑定测试] ====== 派单成功! uid={}, vin={}, orderNo={}, 从队列移除订单 ======", uid, priorityVin, orderNo);
			redisService.removeByPattern(quoteName, orderNo);
			return true;
			} else {
			log.info("[人车订单绑定测试] 关闭巡游单失败, 回退常规流程, vin={}, orderNo={}", priorityVin, orderNo);
			}
			} else {
			log.info("[人车订单绑定测试] 二次校验-订单状态不满足(非待派单), 回退常规流程, orderNo={}", orderNo);
			}
			} else {
			if (vehicle.getState() != 0) {
			log.info("[人车订单绑定测试] 二次校验-车辆已接单(state={}), 当前有未完成订单, 无法指派, vin={}, plateNumber={}, orderNo={}",
			vehicle.getState(), priorityVin, vehicle.getPlateNumber(), orderNo);
			} else {
			log.info("[人车订单绑定测试] 二次校验-车辆状态不满足, 回退常规流程, vin={}, operatingStatus={}, state={}, vehicleType={}",
			priorityVin, vehicle.getOperatingStatus(), vehicle.getState(), vehicle.getVehicleType());
			}
			}
			} else {
			log.info("[人车订单绑定测试] 二次校验-车辆查询失败, 回退常规流程, vin={}, code={}", priorityVin, vehicleR.getCode());
			}
			} catch (Exception e) {
			log.error("[人车订单绑定测试] 锁内执行异常，回退常规流程, uid={}, vin={}, orderNo={}", uid, priorityVin, orderNo, e);
			} finally {
			priorityLock.unlock();
			log.info("[人车订单绑定测试] 分布式锁已释放, vin={}, orderNo={}", priorityVin, orderNo);
			}
			} else {
			log.info("[人车订单绑定测试] 优先匹配未命中, 进入常规流程, uid={}, orderNo={}", uid, orderNo);
			}
			} catch (Exception e) {
			log.error("[人车订单绑定测试] 优先匹配过程异常，回退常规流程, uid={}, orderNo={}", uid, orderNo, e);
			}
			} else {
			log.info("[人车订单绑定测试] 总开关未开启(enabled=false), 跳过优先匹配, uid={}, orderNo={}", uid, orderNo);
			}
			// ===== 新增结束 =====

			for (int i = 0; i < count; i++) {
			//等到sleepTime秒钟
			@@ -396,7 +496,7 @@
			}

			if (max1.equals(weightDistance)) {

			log.info("车子距离~~");
			for (VehiclePositionVo vehiclePosition : availableVehiclesNearby) {
			RouteAndFareDto routeAndFareDto = new RouteAndFareDto();
			LonLatDto lonLatDto = new LonLatDto();
			@@ -413,6 +513,7 @@
			// 调用地图获取时间
			R<RouteVo> r = xpMapClient.getDistanceAndDuration(routeAndFareDto);
			if (r.getCode() == 200) {
			log.info("车子距离~~{},{},{}",vehiclePosition.getVin(),r.getData().getDistance(),orderNo);
			vehiclePosition.setDistance(Double.valueOf(r.getData().getDistance()));
			} else {
			vehiclePosition.setDistance(0.0);
			@@ -898,6 +999,7 @@
			pushOrderDto.setStartLongitude(xpOrder.getStartLon());
			pushOrderDto.setEndLatitude(xpOrder.getEndLat());
			pushOrderDto.setEndLongitude(xpOrder.getEndLon());
			pushOrderDto.setEndPoiName(xpOrder.getEndPointName());
			pushOrderDto.setOrderType(OrderType.USER_ORDER);
			pushOrderDto.setStage(1);
			// 调用推送服务 orderId + carVin
			@@ -928,7 +1030,7 @@
			}
			XpVehicle vehicleId1 = vehicleR.getData();
			log.info("附近只有一个车辆 {} ，直接推单XPU。单号 {}", vehicleId1.getPlateNumber(), orderNo);
			log.info("当前车辆状态 {} 运营状态 {} 单号 {}", vehicleId1.getOperatingStatus(), vehicleId1.getState(), orderNo);
			log.info("当前车辆状态运营状态 {} 单号 {}", vehicleId1.getState(), orderNo);
			if (vehicleId1.getOperatingStatus() != 1 \|\| vehicleId1.getState() != 0 \|\| vehicleId1.getVehicleType() == 1) {
			continue;
			}
			@@ -958,6 +1060,7 @@
			pushOrderDto.setStartLongitude(xpOrder.getStartLon());
			pushOrderDto.setEndLatitude(xpOrder.getEndLat());
			pushOrderDto.setEndLongitude(xpOrder.getEndLon());
			pushOrderDto.setEndPoiName(xpOrder.getEndPointName());
			pushOrderDto.setOrderType(OrderType.USER_ORDER);
			pushOrderDto.setStage(1);
			// 调用推送服务 orderId + carVin
			@@ -1042,6 +1145,7 @@
			pushOrderDto.setStartLongitude(data.getStartLon());
			pushOrderDto.setEndLatitude(data.getEndLat());
			pushOrderDto.setEndLongitude(data.getEndLon());
			pushOrderDto.setEndPoiName(data.getEndPointName());
			pushOrderDto.setOrderType(OrderType.USER_ORDER);
			pushOrderDto.setStage(1);
			// 调用推送服务 orderId + carVin